Autonomous vehicle intent signaling

ABSTRACT

Various technologies described herein pertain to controlling an autonomous vehicle to provide indicators that signal a driving intent of the autonomous vehicle. The autonomous vehicle includes a plurality of sensor systems that generate a plurality of sensor signals, a notification system, and a computing system. The computing system determines that the autonomous vehicle is to execute a maneuver that will cause the autonomous vehicle to traverse a portion of a driving environment of the autonomous vehicle. The computing system predicts that a person in the driving environment is to traverse the portion of the driving environment based upon the plurality of sensor signals. The computing system then controls the notification system to output a first indicator indicating that the autonomous vehicle plans to yield to the person or a second indicator indicating that the autonomous vehicle plans to execute the maneuver prior to the person traversing the portion of the driving environment.

BACKGROUND

An autonomous vehicle is a motorized vehicle that can operate without ahuman driver. An exemplary autonomous vehicle includes a plurality ofsensor systems, such as but not limited to, a lidar sensor system, acamera sensor system, and a radar sensor system, amongst others. Theautonomous vehicle operates based upon sensor signals output by thesensor systems.

It is well known that human drivers adhere to traffic rules whenoperating conventional vehicles. For instance, drivers causeconventional vehicles to stop at red lights and stop signs, proceedthrough intersections at green lights, signal an intent to turn withturn signals, etc. However, it is understood that in certain drivingscenarios, application of traffic rules may be unclear. In an example,when a first vehicle and a second vehicle arrive at an intersection withstop signs at the same time, it may be unclear as to whether the firstvehicle or the second vehicle has the right-of-way. In another example,when a first vehicle is stopped on a road (e.g., waiting to parallelpark, dropping off a passenger, etc.) in front of a second vehicle onthe road, it may be unclear as to whether the second vehicle shouldmaneuver around the first vehicle or wait for the first vehicle to beginmoving again. In yet another example, when a pedestrian is about tocross a road, it may be unclear as to whether a vehicle operating on theroad should yield to the pedestrian or whether the pedestrian shouldyield to the vehicle.

Conventionally, these scenarios are resolved through signals initiatedor performed by a driver that communicate intent of the driver. Forinstance, if a first driver wishes to yield a right-of-way to a seconddriver, the first driver may make a hand gesture (e.g., a wave) towardsthe second driver, flash headlights of his/her vehicle at a vehicle ofthe second driver, beep a horn of his/her vehicle, etc.

Conventional autonomous vehicles are not well suited for theabove-described scenarios as autonomous vehicles do not have humandrivers to signal intent. Thus, in the scenarios identified above, aconventional autonomous vehicle may attempt to navigate based uponmotion of the other vehicle/pedestrian. This may lead to feedback loopswhere the autonomous vehicle begins to move in response to thevehicle/pedestrian stopping, ceases moving in response to thevehicle/pedestrian beginning to move, and again begins to move when thevehicle/pedestrian stops in response to the autonomous vehicle beginningto move. This may lead to undesirable situations in which it is unclearas to whether the autonomous vehicle is yielding to thevehicle/pedestrian.

SUMMARY

The following is a brief summary of subject matter that is described ingreater detail herein. This summary is not intended to be limiting as tothe scope of the claims.

Described herein are various technologies that pertain to controlling anautonomous vehicle to provide an indicator to a person in a drivingenvironment of the autonomous vehicle that indicate intent of theautonomous vehicle. With more specificity, described herein are varioustechnologies pertaining to controlling a notification system of anautonomous vehicle configured to output an indicator that is perceivableexternal to the autonomous vehicle. In an example, the indicator mayindicate that the autonomous vehicle detects the person and that theautonomous vehicle plans to yield to the person to enable the person totraverse a portion of a driving environment of the autonomous vehicle.In another example, the indicator may indicate that the autonomousvehicle detects the person and that the autonomous vehicle plans to notyield to the person.

According to various embodiments, an autonomous vehicle comprises avehicle propulsion system, a braking system, a computing system, aplurality of sensor systems that generate a plurality of sensor signals,and the notification system. The computing system is in communicationwith the vehicle propulsion system, the braking system, the plurality ofsensor systems, and the notification system. The plurality of sensorsignals are indicative of a person in a driving environment of theautonomous vehicle. In an example, the person may be a pedestrian in thedriving environment, a driver of a vehicle in the driving environment,or a cyclist in the driving environment. When the person is a driver ofa vehicle, the person in the vehicle need not be perceived by theautonomous vehicle; instead, the vehicle itself may be perceived in sucha scenario. The notification system may include a lighting system or asound system. The notification system may be incorporated into ormounted on the autonomous vehicle. For instance, the notification systemmay be incorporated into or mounted on a roof of the autonomous vehicle,a bottom of the autonomous vehicle, or a window of the autonomousvehicle, such as a front windshield of the autonomous vehicle, a backwindow of the autonomous vehicle, or a side window of the autonomousvehicle.

In operation, the autonomous vehicle is operating in the drivingenvironment. The autonomous vehicle (by way of the computing system)determines that the autonomous vehicle is to execute a maneuver thatwill cause the autonomous vehicle to traverse a portion of the drivingenvironment. In an example, the portion of the driving environment maybe a crosswalk on a road or an intersection of two or more roads. Theautonomous vehicle (by way of the computing system) also predicts thatthe person is to traverse the portion of the driving environment basedupon the plurality of sensor signals. More specifically, the autonomousvehicle may predict that the person is to traverse the portion of thedriving environment using a computer-implemented machine learning modelthat takes at least some of the plurality of sensor signals as input.

The computing system of the autonomous vehicle may then control thenotification system of the autonomous vehicle to output at least oneindicator that is perceivable external to the autonomous vehicle. In afirst example, the at least one indicator may be a first indicator thatindicates that the autonomous vehicle plans to execute the maneuversubsequent to the person traversing the portion of the drivingenvironment (i.e., the autonomous vehicle plans to yield to thepedestrian). In the first example, the notification system may outputthe first indicator when the autonomous vehicle determines that theperson is expected to fail to yield to the autonomous vehicle. Theautonomous vehicle may base the determination based upon the pluralityof sensor signals. After the person traverses the portion of the drivingenvironment, the autonomous vehicle may control at least one of thevehicle propulsion system or the braking system to execute the maneuver.

In a second example, the at least one indicator may be a secondindicator that indicates that the autonomous vehicle plans to executethe maneuver prior to the person traversing the portion of the drivingenvironment (i.e. the pedestrian is expected to yield to the autonomousvehicle). In the second example, the autonomous vehicle may output thesecond indicator when the autonomous vehicle determines that the personis expected yield to the autonomous vehicle. The autonomous vehicle maybase the determination based upon the plurality of sensor signals. Theautonomous vehicle may then control at least one of the vehiclepropulsion system or the braking system to execute the maneuver.

As noted above, the notification system may comprise a lighting systemand/or a sound system. Thus, the at least one indicator may comprise avisual indicator and the lighting system may be configured to emit thevisual indicator which is viewable external to the autonomous vehicle.The at least one indicator may also comprise an audible indicator andthe sound system may be configured to emit the audible indicator whichis perceivable external to the autonomous vehicle.

In an embodiment, the lighting system may emit the visual indicator witha first coloring when the autonomous vehicle plans to execute themaneuver subsequent to the person traversing the portion of the drivingenvironment. The lighting system may emit the visual indicator with asecond coloring when the autonomous vehicle plans to execute themaneuver prior to the person traversing the portion of the drivingenvironment.

In an embodiment, the lighting system may emit the visual indicator atthe portion of the driving environment, thereby visually highlightingthe portion of the driving environment that the person is to traverse.In another embodiment, the lighting system may emit the visual indicatorat the person.

In an embodiment, a type of indicator outputted by the notificationsystem may be based upon characteristics of the driving environment ofthe autonomous vehicle. The autonomous vehicle may ascertain thecharacteristics based upon the plurality of sensor signals. Thecharacteristics may include a time of day, weather conditions of thedriving environment, a type of the person (e.g., pedestrian, cyclist,conventional vehicle operator, etc.).

The above-described technologies present various advantages overconventional technologies pertaining to autonomous vehicles. First, theabove-described technologies enable an autonomous vehicle to mimicconventional intent signaling employed by drivers of conventionalvehicles. Second, by utilizing a combination of visual indicators andaudible indicators, the technologies described above enable theautonomous vehicle to more effectively convey intent to persons in thedriving environment.

The above summary presents a simplified summary in order to provide abasic understanding of some aspects of the systems and/or methodsdiscussed herein. This summary is not an extensive overview of thesystems and/or methods discussed herein. It is not intended to identifykey/critical elements or to delineate the scope of such systems and/ormethods. Its sole purpose is to present some concepts in a simplifiedform as a prelude to the more detailed description that is presentedlater.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 illustrates a functional block diagram of an exemplary autonomousvehicle.

FIG. 2 illustrates a functional block diagram of an exemplary autonomousvehicle.

FIG. 3 illustrates a functional block diagram of an exemplary autonomousvehicle.

FIG. 4 illustrates a functional block diagram of an exemplary perceptionsystem of an autonomous vehicle.

FIGS. 5A and 5B illustrate exemplary placements of a notification system(e.g., a lighting system) on an autonomous vehicle.

FIG. 6 illustrates an exemplary driving environment of an autonomousvehicle that includes a pedestrian.

FIG. 7 illustrates another exemplary driving environment of anautonomous vehicle that includes a pedestrian.

FIG. 8 illustrates an exemplary driving environment of an autonomousvehicle that includes an intersection and another vehicle.

FIG. 9 illustrates an exemplary driving environment of an autonomousvehicle that includes another vehicle.

FIG. 10 is a flow diagram that illustrates an exemplary methodologyperformed by an autonomous vehicle to provide an indicator to signalautonomous vehicle intent.

FIG. 11 is a flow diagram that illustrates another exemplary methodologyperformed by an autonomous vehicle to select a type of indicator that isto be provided by the autonomous vehicle.

FIG. 12 illustrates an exemplary computing device.

DETAILED DESCRIPTION

Various technologies pertaining to controlling an autonomous vehicle toprovide an indicator, which is perceivable external to the autonomousvehicle, to signal intent of the autonomous vehicle to one or morepersons in a driving environment of the autonomous vehicle, are nowdescribed with reference to the drawings, wherein like referencenumerals are used to refer to like elements throughout. In the followingdescription, for purposes of explanation, numerous specific details areset forth in order to provide a thorough understanding of one or moreaspects. It may be evident, however, that such aspect(s) may bepracticed without these specific details. In other instances, well-knownstructures and devices are shown in block diagram form in order tofacilitate describing one or more aspects. Further, it is to beunderstood that functionality that is described as being carried out bycertain system components may be performed by multiple components.Similarly, for instance, a component may be configured to performfunctionality that is described as being carried out by multiplecomponents.

Moreover, the term “or” is intended to mean an inclusive “or” ratherthan an exclusive “or.” That is, unless specified otherwise, or clearfrom the context, the phrase “X employs A or B” is intended to mean anyof the natural inclusive permutations. That is, the phrase “X employs Aor B” is satisfied by any of the following instances: X employs A; Xemploys B; or X employs both A and B. In addition, the articles “a” and“an” as used in this application and the appended claims shouldgenerally be construed to mean “one or more” unless specified otherwiseor clear from the context to be directed to a singular form.

As used herein, the terms “component” and “system” are intended toencompass computer-readable data storage that is configured withcomputer-executable instructions that cause certain functionality to beperformed when executed by a processor. The computer-executableinstructions may include a routine, a function, or the like. It is alsoto be understood that a component or system may be localized on a singledevice or distributed across several devices. Further, as used herein,the term “exemplary” is intended to mean “serving as an illustration orexample of something.”

Referring now to the drawings, FIG. 1 illustrates an autonomous vehicle100. The autonomous vehicle 100 can navigate about roadways withouthuman conduction based upon sensor signals outputted by sensor systemsof the autonomous vehicle 100. The autonomous vehicle 100 includes aplurality of sensor systems, namely, a sensor system 1 102, . . . , anda sensor system N 104, where N can be substantially any integer greaterthan 1 (collectively referred to herein as sensor systems 102-104). Thesensor systems 102-104 are of different types and are arranged about theautonomous vehicle 100. For example, the sensor system 1 102 may be alidar sensor system and the sensor system N 104 may be a camera sensor(image) system. Other exemplary sensor systems included in the sensorsystems 102-104 can include radar sensor systems, GPS sensor systems,sonar sensor systems, infrared sensor systems, and the like.

The autonomous vehicle 100 further includes several mechanical systemsthat are used to effectuate appropriate motion of the autonomous vehicle100. For instance, the mechanical systems can include, but are notlimited to, a vehicle propulsion system 106, a braking system 108, and asteering system 110. The vehicle propulsion system 106 may be anelectric motor, an internal combustion engine, or a combination thereof.The braking system 108 can include an engine brake, brake pads,actuators, and/or any other suitable componentry that is configured toassist in decelerating the autonomous vehicle 100. The steering system110 includes suitable componentry that is configured to control thedirection of movement of the autonomous vehicle 100.

The autonomous vehicle 100 includes a notification system 112. Thenotification system 112 includes a hardware device (or a plurality ofhardware devices) configured to output an indicator 114. The indicator114 outputted by the notification system 112 is perceivable external tothe autonomous vehicle 100. For example, the indicator 114 may beperceived by a person 124 in a driving environment of the autonomousvehicle 100. In an example, the person 124 may be a pedestrian, a driverof a conventional vehicle, or a cyclist. According to an example, thenotification system 112 can include a lighting system that emits avisual indicator viewable external to the autonomous vehicle 100.Following this example, the lighting system can include a hardwaredevice (or hardware devices) integrated into, mounted on, or otherwisephysically coupled to the autonomous vehicle 100; the hardware device(s)of the lighting system can emit a visual indicator (e.g., the indicator114), which can be or include light rays. According to yet anotherexample, the notification system 112 can include a sound system that canemit an audible indicator perceivable external to the autonomous vehicle100. Pursuant to this example, the sound system can include a hardwaredevice (or hardware devices) integrated into, mounted on, or otherwisephysically coupled to the autonomous vehicle 100; the hardware device(s)of the sound system can emit an audible indicator (e.g., the indicator114), which can be or include sound waves. Further, it is contemplatedthat the notification system 112 can include both a lighting system anda sound system. Thus, the indicator 114 outputted by the notificationsystem 112 can be a visual indicator, an audible indicator, or acombination thereof. Pursuant to an illustration in which thenotification system 112 includes both a lighting system and a soundsystem, it is to be appreciated that the notification system 112 canconcurrently emit a visual indicator and an audible indicator during acommon time period (e.g., the indicator 114 can include the visualindicator and the audible indicator) or the notification system 112 canemit a visual indicator and an audible indicator during different timeperiods (e.g., the indicator 114 outputted during a particular timeperiod can be one of the visual indicator or the audible indicator). Asdescribed in greater detail below, an intent signaling system 122, forinstance, can cause the notification system 112 to emit either (or both)a visual indicator or an audible indicator based on characteristics ofthe driving environment such as time of day, location of the autonomousvehicle 100 within the driving environment, a type of the person 124, acombination thereof, or the like.

According to an example, the audible indicator emitted by the soundsystem of the notification system 112 can be a spoken word (or spokenwords). Following this example, the spoken word(s) can signify to theperson 124 (or others nearby the autonomous vehicle 100) whether or notthe autonomous vehicle 100 plans to yield to the person 124. Forinstance, the spoken word(s) can be “Please proceed in front of vehicle”when the autonomous vehicle 100 plans to yield to the person 124, or thespoken word(s) can be “Caution—wait for vehicle to pass” when the person124 is to yield to the autonomous vehicle 100. By way of anotherexample, the audible indicator emitted by the sound system of thenotification system 112 can be a sound other than spoken words. Pursuantto this example, the sound can be a chime that intuitively indicates tothe person 124 whether or not to proceed (e.g., whether the autonomousvehicle 100 plans to yield or not yield to the person 124).

The autonomous vehicle 100 additionally includes a computing system 116that is in communication with the sensor systems 102-104, the vehiclepropulsion system 106, the braking system 108, the steering system 110,and the notification system 112. The computing system 116 includes aprocessor 118 and memory 120. The memory 120 includescomputer-executable instructions that are executed by the processor 118.Pursuant to various examples, the processor 118 can be or include agraphics processing unit (GPU), a plurality of GPUs, a centralprocessing unit (CPU), a plurality of CPUs, an application-specificintegrated circuit (ASIC), a microcontroller, a programmable logiccontroller (PLC), a field programmable gate array (FPGA), or the like.

The memory 120 of the computing system 116 includes the intent signalingsystem 122 that is configured to control the notification system 112 ofthe autonomous vehicle 100 to output the indicator 114. As will bedescribed in greater detail below, the intent signaling system 122 cancontrol the indicator 114 outputted by the notification system 112 suchthat a characteristic of the indicator 114 is controlled based on one ormore characteristics of a driving environment of the autonomous vehicle100. According to an illustration, the intent signaling system 122 cancause the notification system 112 to emit a green light for the person124 when the autonomous vehicle 100 plans to yield to the person 124,while the intent signaling system 122 can cause the notification system112 to emit a red light for the person 124 when the autonomous vehicle100 expects the person 124 to yield to the autonomous vehicle 100.Moreover, the intent signaling system 122 can modify the characteristicof the indicator 114 over time based on a state of the autonomousvehicle 100. For instance, the indicator 114 may have an intensity(e.g., a coloring intensity, a sound intensity, etc.) and the autonomousintent signaling system 122 can control the notification system 112 tovary the intensity (e.g., vary from a dull color to a bright color, varyfrom a low volume sound to a high volume sound) of the indicator 114based upon a distance between the autonomous vehicle 100 and the person124. Further, a characteristic of the indicator 114 outputted by thenotification system 112 can be controlled by the intent signaling system122 to signify that the indicator 114 is intended to be communicated toa particular person (e.g., the person 124) in the driving environment;for instance, the intent signaling system 122 can cause a direction ofan emitted light outputted by the notification system 112 to be pointedat or near the particular person (e.g., a crosswalk can be illuminatedwhen the autonomous vehicle 114 plans to yield to the particular personcrossing a street in the crosswalk).

In an embodiment, the intent signaling system 122 can cause thenotification system 112 to emit a first type of indicator for a firsttype of person and a second type of indicator for a second type ofperson. For instance, the first type of indicator may be a visualindicator of a first color for the first type of person and the secondtype of indicator may be a visual indicator of a second color for thesecond type of person. A type of person may be, but is not limited to, apedestrian, a driver of a vehicle, or a cyclist. When the person 124 isa driver of a vehicle, the person 124 in the vehicle need not beperceived by the autonomous vehicle 100; instead, the vehicle itself maybe perceived by the autonomous vehicle 100 in such a scenario.

The memory 120 additionally includes a control system 126. The controlsystem 126 is configured to control at least one of the mechanicalsystems of the autonomous vehicle 100 (e.g., at least one of the vehiclepropulsion system 106, the braking system 108, and/or the steeringsystem 110). Moreover, the control system 126 can be configured toprovide data corresponding to the control of the mechanical system(s) tothe intent signaling system 122. For instance, the control system 126can provide data to the intent signaling system 122 specifying the stateof the autonomous vehicle 100. Thus, the intent signaling system 122 cancontrol the notification system 112 to output the indicator 114 based onthe data corresponding to the control of the mechanical system(s)received from the control system 126.

Now turning to FIG. 2, illustrated is the autonomous vehicle 100 inaccordance with various embodiments. Again, the autonomous vehicle 100includes the computing system 116 and the notification system 112. Whilenot shown, it is to be appreciated that the autonomous vehicle 100further includes the sensor systems 102-104 and the mechanical systemsas described herein. As depicted in FIG. 2, the notification system 112can include a lighting system 202 and a sound system 204; thus, theintent signaling system 122 can control the lighting system 202 and/orthe sound system 204 to output the indicator 114.

According to an example, the intent signaling system 122 can cause thelighting system 202 to emit a visual indicator viewable external to theautonomous vehicle 100. It is contemplated that the visual indicator canbe displayed on the autonomous vehicle 100 (or a portion thereof) and/ornearby the autonomous vehicle 100 (e.g., the visual indicator can beprojected by the lighting system 202 onto the ground nearby theautonomous vehicle 100, at the person 124, etc.).

The lighting system 202 can include substantially any number of lightsthat can be incorporated into or mounted upon the autonomous vehicle100. The lights of the lighting system 202 can include substantially anytype of lights (e.g., the lighting system 202 can include various lightemitting diodes (LEDs)). It is contemplated that a subset of the lightsof the lighting system 202 can emit the visual indicator at a giventime, while a remainder of the lights of the lighting system 202 neednot be illuminated (e.g., a light bar on one door of the autonomousvehicle 100 can be illuminated while a light bar on a differing door isnot illuminated). The lights of the lighting system 202 can be coloraddressable. Moreover, according to an example, the lights of thelighting system 202 can emit light in a controllable direction from theautonomous vehicle 100. Further, is to be appreciated that the lights ofthe lighting system 202 can be located at substantially any location onthe autonomous vehicle 100 (e.g., on a top of the autonomous vehicle 100around a lidar sensor system, underneath the autonomous vehicle 100, ondoors of the autonomous vehicle 100, on a front or rear bumper of theautonomous vehicle 100, on windows of the autonomous vehicle 100, ontrim surrounding doors and/or windows of the autonomous vehicle 100).

Pursuant to an example, a characteristic of the visual indicator can bea color of the visual indicator. According to an illustration, theintent signaling system 122 can cause the lighting system 202 to emitthe visual indicator in a first color (e.g., green) when the autonomousvehicle 100 plans to yield to the person 124 and in a second color(e.g., red) when the autonomous vehicle 100 plans to not yield to theperson 124.

Pursuant to another example, the characteristic of the visual indicatorcan be an animation. According to an illustration, the predefinedanimation outputted by the lighting system 202 can include marchinggreen ants depicted to be marching around the autonomous vehicle 100when the autonomous vehicle 100 is yielding or plans to yield to theperson 124.

In an embodiment, the lighting system 202 may be mounted underneath theautonomous vehicle 100. In the embodiment, the lighting system 202 mayinclude at least one light strip that extends across the perimeter ofthe bottom of the autonomous vehicle 100. For instance, the at least onelight strip may include a first light strip that extends from a bottomfront right portion of the autonomous vehicle 100 to a bottom front leftportion of the autonomous vehicle 100, a second light strip that extendsfrom a bottom back right potion of the autonomous vehicle 100 to abottom back left portion of the autonomous vehicle 100, a third lightstrip that extends from a bottom front right portion of the autonomousvehicle 100 to a bottom back right portion of the autonomous vehicle100, and a fourth light strip that extends from a bottom front leftportion of the autonomous vehicle 100 to a bottom back left portion ofthe autonomous vehicle 100. It is contemplated that the foregoing lightstrips can extend across an entire width or length of the autonomousvehicle 100. Alternatively, the light strips noted above can extendacross a portion of the width or a portion of the length of theautonomous vehicle 100.

In an embodiment, the lighting system 202 may include articulating(i.e., orientable) light sources that be configured to emit the visualindicator at different areas around the driving environment. Forinstance, the lighting system 202 may cause the visual indicator to beemitted at the person 124 and/or at a portion of the driving environmentthat the person 124 is to traverse. Moreover, the lighting system 202may be configured to continually emit the visual indicator at the person124 as the person traverses the driving environment of the autonomousvehicle 100.

Moreover, as noted above, the notification system 112 can include thesound system 204. The sound system 204 can include substantially anynumber of speakers. The sound system 204 may be placed on any locationof the autonomous vehicle 100. The intent signaling system 122 can causethe sound system 204 to emit an audible indicator perceivable externalto the autonomous vehicle 100. A characteristic of the audible indicatorcan be controlled by the intent signaling system 122. For instance, theintent signaling system 122 may cause the notification system 112 toemit the audible indicator as a first sound when the autonomous vehicle100 plans to execute the maneuver subsequent to the person 124traversing a portion of the driving environment. The intent signalingsystem 122 may cause the notification system 112 to emit the audibleindicator as a second sound when the autonomous vehicle 100 plans toexecute the maneuver prior to the person 124 traversing the portion thedriving environment.

With reference to FIG. 3, illustrated is the autonomous vehicle 100 inaccordance with various embodiments. Again, the autonomous vehicle 100includes the computing system 116 and the notification system 112. Whilenot shown, it is to be appreciated that the autonomous vehicle 100further includes the sensor systems 102-104 and the mechanical systemsas described herein. In accordance with various embodiments, the memory120 of the computing system 116 includes a planning system 302 and aperception system 304. The planning system 302 is configured to plan aroute that the autonomous vehicle 100 is to follow. For instance, theplanning system 302 may plan a series of maneuvers that are to beperformed by the autonomous vehicle 100. Generally speaking, theperception system 304 is configured to track objects (e.g., vehicles,people, etc.) in the driving environment surrounding the autonomousvehicle 100.

Referring now to FIG. 4, a functional block diagram of the perceptionsystem 304 is illustrated. The perception system 304 may include atracking subsystem 402 and a prediction subsystem 404. The trackingsubsystem 402 is configured to track objects surrounding the autonomousvehicle 100. As such, the tracking subsystem 402 may be configured tointeract with the plurality of sensor systems 102-104 in order toeffectuate the tracking. In an example, when the plurality of sensorsystems 102-104 include articulating (i.e., orientable) sensors, thetracking subsystem 402 may be configured to cause the articulatingsensors to remain directed at objects in the driving environment of theautonomous vehicle 100 as the autonomous vehicle 100 is moving. Inanother example, the tracking subsystem 402 may be configured to controlsensor systems in the plurality of sensor systems 102-104 such thatobjects remain tracked.

The prediction subsystem 404 is configured to predict future paths ofobjects (e.g., vehicles, people, etc.) in the driving environment basedon sensor signals generated by the plurality of sensor systems 102-104.The prediction subsystem 404 may utilize computer-implemented machinelearning models, such as a deep neural network (DNN), in order topredict the future paths. In an example, the prediction subsystem 404may predict future paths of the objects for a period of time rangingfrom 10-12 seconds.

In an embodiment where the indicator 114 is a visual indicator, thetracking subsystem 402 and the prediction subsystem 404 may work inconjunction with one another in order to determine where to direct thevisual indicator in the driving environment. For instance, the trackingsubsystem 402 and the prediction subsystem 404 may utilize quaterniontransforms in order to facilitate directing the visual indicator at theperson 124 in the driving environment.

In an embodiment, the perception system 304 may be configured to assignlabels to objects (in proximity to the autonomous vehicle 100) capturedin sensor signals output by the sensor systems 102-104. These predefinedtypes of objects can include, but are not limited to, pedestrian, bike,car, truck, bus, and static (unknown), where the type “static” canrepresent telephone poles, construction equipment, etc.).

With reference generally now to FIGS. 1-4, exemplary operation of theautonomous vehicle 100 is set forth. It is contemplated that theautonomous vehicle 100 is operating in a driving environment. Thecomputing system 116 of the autonomous vehicle 100 determines that theautonomous vehicle 100 is to execute a maneuver that will cause theautonomous vehicle 100 to traverse a portion of the driving environment.In a non-limiting example, the portion of the driving environment may bea crosswalk on a road or an intersection of two or more roads. Thecomputing system 116 also predicts that a person 124 is to traverse theportion of the driving environment based upon a plurality of sensorsignals generated by the plurality of sensor systems 102-104. Morespecifically, the computing system 116 may predict that the person 124is to traverse the portion of the driving environment using acomputer-implemented machine learning model that takes at least some ofthe plurality of sensor signals as input.

The computing system 116 of the autonomous vehicle 100 may then controlthe notification system 112 of the autonomous vehicle 100 to output theindicator 114 that is perceivable external to the autonomous vehicle100. In a first example, the indicator 114 may be a first indicator thatindicates that the autonomous vehicle 100 plans to execute the maneuversubsequent to the person 124 traversing the portion of the drivingenvironment (i.e., the autonomous vehicle 100 plans to yield to thepedestrian). In the first example, the notification system 112 mayoutput the first indicator when the computing system 116 determines thatthe person 124 is expected to fail to yield to the autonomous vehicle100. The autonomous vehicle 100 may then yield to the person 124. Afterthe person 124 traverses the portion of the driving environment, theautonomous vehicle 100 may control at least one of the vehiclepropulsion system 106, the braking system 108, or the steering system100 to execute the maneuver.

In a second example, the indicator 114 may be a second indicator thatindicates that the autonomous vehicle 100 plans to execute the maneuverprior to the person 124 traversing the portion of the drivingenvironment (i.e. the pedestrian 124 is expected to yield to theautonomous vehicle 100). In the second example, the computing system 116controls the notification system 112 to output the second indicator whenthe computing system 116 determines that the person 124 is expectedyield to the autonomous vehicle 100. The autonomous vehicle 100 maycontrol at least one of the vehicle propulsion system 106, the brakingsystem 108, or the steering system 100 to execute the maneuver.Subsequently, it is contemplated that the person 124 will then traversethe portion of the driving environment.

In an embodiment, the computing system 116 may control the notificationsystem 112 to output the first indicator for a first duration of timeduring which the person 124 traverses the portion of the drivingenvironment. In the embodiment, the computing system 116 may control thenotification system 112 to output the second indicator for a secondduration of time during which the autonomous vehicle 100 traverses theportion of the driving environment.

Now turning to FIGS. 5A and 5B, front-views of the autonomous vehicle100 depicting exemplary placement of a notification system (e.g., thenotification system 112) on the autonomous vehicle 100 are illustrated.As shown in FIG. 5A, the notification system includes the lightingsystem 202. In the depicted example of FIG. 5A, the lighting system 202is mounted underneath the autonomous vehicle 100. The lighting system202 can include a plurality of light strips that can be controlled toemit the indicator 114. Thus, in the example shown in FIG. 5A, theindicator 114 may be emitted from a one of the light strips mountedunderneath the autonomous vehicle 124; the light strip from which theindicator 114 is emitted (or a portion thereof) can be controlled basedon the location of the person 124.

According to another embodiment, as shown in FIG. 5B, the lightingsystem 202 can be mounted on a front end of the autonomous vehicle on ornear a front windshield of the autonomous vehicle 100. Morespecifically, as depicted in FIG. 5B, the lighting system 202 caninclude lights (e.g., LEDs) mounted on or incorporated into theautonomous vehicle 100 on a driver side of the windshield (i.e., nearwhere a driver of a conventional vehicle would be expected to sit). Inthis embodiment, the indicator 114 can be emitted from the lightingsystem 202 (e.g., one or more lights of the lighting system 202) from alocation on the autonomous vehicle 100 where the person 124 would expecta driver of a conventional vehicle to be located.

Referring now to FIG. 6, an exemplary driving environment 600 thatincludes the autonomous vehicle 100 and a pedestrian 602 is illustrated.The pedestrian 602 may be the person 124. The driving environment 600includes a road 604 that includes a crosswalk 606. In an example, thepedestrian 602 is to traverse the crosswalk 606 to cross the road 604.As described above, the autonomous vehicle 100 determines that theautonomous vehicle 100 is to execute a maneuver (i.e., going straight onthe road 604) that will cause the autonomous vehicle 100 to traverse aportion of the driving environment 600 (i.e., the crosswalk 606). Theautonomous vehicle 100 also predicts that the pedestrian 602 is totraverse the crosswalk 606 based upon a plurality of sensor signalsgenerated by the sensor systems 102-104. The autonomous vehicle 100 thencontrols the notification system 112 to output the indicator 114 at thepedestrian 602 such that the indicator 114 is perceivable by thepedestrian 602. In an example, the indicator 114 indicates that theautonomous vehicle 100 is aware of the pedestrian 602 and thatautonomous vehicle 100 plans to yield to the pedestrian 602 allowing thepedestrian 602 to traverse the crosswalk 606 prior to the autonomousvehicle 100 traversing the crosswalk. The pedestrian 600 may thentraverse the crosswalk 606. Subsequently, the autonomous vehicle 100 maythen continue heading straight on the road 604 thereby (perpendicularly)traversing the crosswalk 606.

Although the previously described scenario has been described asinvolving the crosswalk 606, it is understood that the autonomousvehicle 100 may also output the indicator 114 to pedestrians crossingthe road 604 at areas other than the crosswalk 606.

With reference to FIG. 7, an exemplary driving environment 700 thatincludes the autonomous vehicle 100 and a pedestrian 702 is illustrated.The pedestrian 702 may be the person 124. The driving environment 700includes a road 704 that includes a crosswalk 706. In an example, thepedestrian 702 is to traverse the crosswalk 706 in order to cross theroad 704. As described above, the autonomous vehicle 100 determines thatthe autonomous vehicle 100 is to execute a maneuver (i.e., goingstraight on the road 704) that will cause the autonomous vehicle 100 totraverse a portion of the driving environment 700 (i.e., the crosswalk706). The autonomous vehicle 100 also predicts that the pedestrian 702is to traverse the crosswalk 706 based upon a plurality of sensorsignals generated by the sensor systems 102-104. The autonomous vehicle100 then controls the notification system 112 to output the indicator114 at the crosswalk 706. For instance, the indicator 114 may be avisual indicator that is emitted at the crosswalk 706 such that thecrosswalk 706 is illuminated in the driving environment 700, therebyindicating that the autonomous vehicle 100 is yielding to the pedestrian700. The pedestrian 700 may then traverse the crosswalk 706.Subsequently, the autonomous vehicle 100 may then continue headingstraight on the road 704 thereby (perpendicularly) traversing thecrosswalk 706.

Turning now to FIG. 8, an exemplary driving environment 800 thatincludes the autonomous vehicle 100 and a vehicle 802 operated by theperson 124 is illustrated. The driving environment 800 includes a firstroad 804 and a second road 806 that intersect at an intersection 808with stop signs. The autonomous vehicle 100 is operating on the firstroad 804 and the vehicle 802 is operating on the second road 806. It iscontemplated that the autonomous vehicle 100 and the vehicle 802 arriveat the intersection 808 at a similar time such that it is ambiguous asto which vehicle arrived at the intersection 808 first. In an example,the autonomous vehicle 100 is to execute a maneuver (i.e., maintaining astraight heading on the first road 804) that will cause the autonomousvehicle 100 to traverse a portion of the driving environment 800 (i.e.,the intersection 808). In the example, the autonomous vehicle 100predicts that the vehicle 802 is also to traverse the intersection 808(by making a left-turn at the intersection 808).

The autonomous vehicle 100 may then control the notification system 112to output the indicator 114. When the autonomous vehicle 100 will yieldto the vehicle 802, the indicator 114 indicates that the autonomousvehicle 100 plans to execute the maneuver subsequent to the vehicle 802traversing the intersection 808. When the autonomous vehicle 100 expectsthe vehicle 802 to yield to the autonomous vehicle 100, the indicator114 indicates that that the autonomous vehicle 100 plans to execute themaneuver prior to the vehicle 802 traversing the intersection 808.

Referring now to FIG. 9, an exemplary driving environment 900 thatincludes the autonomous vehicle 100 and a vehicle 902 operated by theperson 124 is illustrated. In the driving environment 900, theautonomous vehicle 100 is temporarily stopped at a position on a road904 and the vehicle 902 is located behind the autonomous vehicle 100.For instance, the autonomous vehicle 100 may be temporarily stopped forpassenger drop-off or pick-up. The autonomous vehicle 100 may detect thevehicle 902 based upon sensor signals generated by the plurality ofsensor systems 102-104. The autonomous vehicle 100 may then control thenotification system 112 to output the indicator 114, wherein theindicator 114 indicates that the vehicle 902 should maneuver around theautonomous vehicle 100.

Although the previously described scenario has been described asincluding a four-way intersection, it is to be appreciated that asimilar process may be utilized in different types of intersections(e.g., a three-way intersection, a five-way intersection, etc.)

While the above-described processes have been described as involving asingle person, it is to be understood that above-described process maybe employed for many different persons in the driving environment of theautonomous vehicle 100. Moreover, the many different persons may be ofdifferent types (e.g., pedestrians, conventional vehicle drivers,cyclists, etc.).

While the above-described processes have been described as involvingpedestrians, intersections, and vehicle passing, other possibilities arecontemplated. For instance, the above-described processes may also beused to signal that a door of the autonomous vehicle 100 will be opened.Additionally, the above-described processes may be used to displayintent of the autonomous vehicle 100 during a left turn.

FIGS. 10 and 11 illustrate exemplary methodologies relating tocontrolling an autonomous vehicle to provide an indicator signal intentof the autonomous vehicle. While the methodologies are shown anddescribed as being a series of acts that are performed in a sequence, itis to be understood and appreciated that the methodologies are notlimited by the order of the sequence. For example, some acts can occurin a different order than what is described herein. In addition, an actcan occur concurrently with another act. Further, in some instances, notall acts may be required to implement a methodology described herein.

Moreover, the acts described herein may be computer-executableinstructions that can be implemented by one or more processors and/orstored on a computer-readable medium or media. The computer-executableinstructions can include a routine, a sub-routine, programs, a thread ofexecution, and/or the like. Still further, results of acts of themethodologies can be stored in a computer-readable medium, displayed ona display device, and/or the like.

With reference to FIG. 10, a methodology 1000 performed by an autonomousvehicle to provide an indicator indicative of autonomous vehicle intentis illustrated. The methodology 1000 begins at 1002, and at 1004, theautonomous vehicle determines that the autonomous vehicle is to executea maneuver that will cause the autonomous vehicle to traverse a portionof a driving environment of the autonomous vehicle. At 1006, theautonomous vehicle predicts that a person in the driving environment ofthe autonomous vehicle is to traverse the portion of the drivingenvironment based upon sensor signals generated by a plurality of sensorsystems of the autonomous vehicle. At 1008, the autonomous vehicledetermines whether the autonomous vehicle is to yield to the person whenthe person traverses the portion of the driving environment.

When the autonomous vehicle is to yield to the person (as determined at1008), the methodology 1000 continues to 1010. At 1010, the autonomousvehicle controls a notification system of the autonomous vehicle tooutput a first indicator perceivable external to the autonomous vehicle.The first indicator may indicate that the autonomous vehicle plans toexecute the maneuver subsequent to the person traversing the portion ofthe driving environment (i.e., the autonomous vehicle will yield to theperson). Moreover, at 1012, the autonomous vehicle controls at least oneof a vehicle propulsion system of the autonomous vehicle or a brakingsystem of the autonomous vehicle to execute the maneuver subsequent tothe person traversing the portion of the driving environment. Themethodology 1000 can then conclude at 1018.

Alternatively, when the person is to yield to the autonomous vehicle (asdetermined at 1008), the methodology 1000 continues to 1014. At 1014,the autonomous vehicle controls the notification system of theautonomous vehicle to output a second indicator perceivable external tothe autonomous vehicle. The second indicator may indicate that theautonomous vehicle plans to execute the maneuver prior to the persontraversing the portion of the driving environment (i.e., signifying thatthe person is to yield to the autonomous vehicle). At 1016, theautonomous vehicle controls at least one of the vehicle propulsionsystem or the braking system to execute the maneuver prior to the persontraversing the portion of the driving environment. The methodology 1000can then conclude at 1018.

Turning to FIG. 11, a methodology 1100 performed by an autonomousvehicle to provide an indicator of a given type is illustrated. Themethodology 1100 begins at 1102, and at 1104, the autonomous vehicleascertains characteristics of a driving environment of the autonomousvehicle based upon sensor signals generated by sensor systems of theautonomous vehicle. At 1106, the autonomous vehicle selects a type ofindicator that is to be outputted based upon the characteristics of thedriving environment. At 1108, the autonomous vehicle (by way of anotification system) outputs the type of indicator. The methodology 1100concludes at 1110.

Referring now to FIG. 12, a high-level illustration of an exemplarycomputing device 1200 that can be used in accordance with the systemsand methodologies disclosed herein is illustrated. For instance, thecomputing device 1200 may be or include the computing system 116. Thecomputing device 1200 includes at least one processor 1202 that executesinstructions that are stored in a memory 1204. The instructions may be,for instance, instructions for implementing functionality described asbeing carried out by one or more systems discussed above or instructionsfor implementing one or more of the methods described above. Theprocessor 1202 may be a GPU, a plurality of GPUs, a CPU, a plurality ofCPUs, a multi-core processor, etc. The processor 1202 may access thememory 1204 by way of a system bus 1206. In addition to storingexecutable instructions, the memory 1204 may also store data specifyingcharacteristics of indicators, computer-implemented machine learningmodels, and so forth.

The computing device 1200 additionally includes a data store 1208 thatis accessible by the processor 1202 by way of the system bus 1206. Thedata store 1208 may include executable instructions, data specifyingcharacteristics of indicators, computer-implemented machine learningmodels, etc. The computing device 1200 also includes an input interface1210 that allows external devices to communicate with the computingdevice 1200. For instance, the input interface 1210 may be used toreceive instructions from an external computer device, etc. Thecomputing device 1200 also includes an output interface 1212 thatinterfaces the computing device 1200 with one or more external devices.For example, the computing device 1200 may transmit control signals tothe vehicle propulsion system 106, the braking system 108, and/or thesteering system 110 by way of the output interface 1212.

Additionally, while illustrated as a single system, it is to beunderstood that the computing device 1200 may be a distributed system.Thus, for instance, several devices may be in communication by way of anetwork connection and may collectively perform tasks described as beingperformed by the computing device 1200.

Various functions described herein can be implemented in hardware,software, or any combination thereof. If implemented in software, thefunctions can be stored on or transmitted over as one or moreinstructions or code on a computer-readable medium. Computer-readablemedia includes computer-readable storage media. A computer-readablestorage media can be any available storage media that can be accessed bya computer. By way of example, and not limitation, suchcomputer-readable storage media can comprise RAM, ROM, EEPROM, CD-ROM orother optical disk storage, magnetic disk storage or other magneticstorage devices, or any other medium that can be used to store desiredprogram code in the form of instructions or data structures and that canbe accessed by a computer. Disk and disc, as used herein, includecompact disc (CD), laser disc, optical disc, digital versatile disc(DVD), floppy disk, and blu-ray disc (BD), where disks usually reproducedata magnetically and discs usually reproduce data optically withlasers. Further, a propagated signal is not included within the scope ofcomputer-readable storage media. Computer-readable media also includescommunication media including any medium that facilitates transfer of acomputer program from one place to another. A connection, for instance,can be a communication medium. For example, if the software istransmitted from a website, server, or other remote source using acoaxial cable, fiber optic cable, twisted pair, digital subscriber line(DSL), or wireless technologies such as infrared, radio, and microwave,then the coaxial cable, fiber optic cable, twisted pair, DSL, orwireless technologies such as infrared, radio and microwave are includedin the definition of communication medium. Combinations of the aboveshould also be included within the scope of computer-readable media.

Alternatively, or in addition, the functionality described herein can beperformed, at least in part, by one or more hardware logic components.For example, and without limitation, illustrative types of hardwarelogic components that can be used include Field-programmable Gate Arrays(FPGAs), Application-specific Integrated Circuits (ASICs),Application-specific Standard Products (ASSPs), System-on-a-chip systems(SOCs), Complex Programmable Logic Devices (CPLDs), etc.

What has been described above includes examples of one or moreembodiments. It is, of course, not possible to describe everyconceivable modification and alteration of the above devices ormethodologies for purposes of describing the aforementioned aspects, butone of ordinary skill in the art can recognize that many furthermodifications and permutations of various aspects are possible.Accordingly, the described aspects are intended to embrace all suchalterations, modifications, and variations that fall within the scope ofthe appended claims. Furthermore, to the extent that the term “includes”is used in either the details description or the claims, such term isintended to be inclusive in a manner similar to the term “comprising” as“comprising” is interpreted when employed as a transitional word in aclaim.

What is claimed is:
 1. An autonomous vehicle, comprising: a plurality ofsensor systems that generate a plurality of sensor signals, theplurality of sensor signals indicative of a person in a drivingenvironment of the autonomous vehicle; a notification system; and acomputing system that is in communication with the plurality of sensorsystems and the notification system, wherein the computing systemcomprises: a processor; and memory that stores computer-executableinstructions that, when executed by the processor, cause the processorto perform acts comprising: determining that the autonomous vehicle isto execute a maneuver that will cause the autonomous vehicle to traversea portion of the driving environment; predicting that the person is totraverse the portion of the driving environment based upon the pluralityof sensor signals; and controlling the notification system of theautonomous vehicle to output a first indicator perceivable external tothe autonomous vehicle or a second indicator perceivable external to theautonomous vehicle, wherein the first indicator indicates that theautonomous vehicle plans to execute the maneuver subsequent to theperson traversing the portion of the driving environment, wherein thesecond indicator indicates that the autonomous vehicle plans to executethe maneuver prior to the person traversing the portion of the drivingenvironment.
 2. The autonomous vehicle of claim 1, wherein theautonomous vehicle further comprises a vehicle propulsion system and abraking system, the acts further comprising: controlling at least one ofthe vehicle propulsion system or the braking system to execute themaneuver subsequent to the person traversing the portion of the drivingenvironment or controlling at least one of the vehicle propulsion systemor the braking system to execute the maneuver prior to the persontraversing the portion of the driving environment.
 3. The autonomousvehicle of claim 1, wherein the person is one of: a pedestrian; acyclist; or an operator of a vehicle.
 4. The autonomous vehicle of claim1, wherein the portion of the driving environment is a crosswalk on aroad.
 5. The autonomous vehicle of claim 1, wherein the first indicatoris a first visual indicator, wherein the second indicator is a secondvisual indicator, wherein the notification system comprises a lightingsystem configured to emit the first visual indicator or the secondvisual indicator.
 6. The autonomous vehicle of claim 5, wherein thelighting system emits the first visual indicator with a first coloringwhen the autonomous vehicle plans to execute the maneuver subsequent tothe person traversing the portion of the driving environment, whereinthe lighting system emits the second visual indicator with a secondcoloring when the autonomous vehicle plans to execute the maneuver priorto the person traversing the portion of the driving environment.
 7. Theautonomous vehicle of claim 5, wherein the lighting system is configuredto emit the first visual indicator or the second visual indicator at theportion of the driving environment, thereby visually highlighting theportion of the driving environment.
 8. The autonomous vehicle of claim5, wherein the lighting system is at least one of mounted on a window ofthe autonomous vehicle or mounted underneath the autonomous vehicle. 9.The autonomous vehicle of claim 1, wherein the first indicator is afirst audible indicator, wherein the second indicator is a secondaudible indicator, wherein the notification system comprises a soundsystem configured to emit the first audible indicator or the secondaudible indicator.
 10. The autonomous vehicle of claim 1, wherein theportion of the driving environment is an intersection of a first roadand a second road, wherein the autonomous vehicle arrives at theintersection from the first road at a certain time, wherein a vehicleoperated by the person arrives at the intersection from the second roadat the certain time.
 11. The autonomous vehicle of claim 1, the actsfurther comprising: prior to controlling the notification system of theautonomous vehicle to output the first indicator or the secondindicator, determining that the person is expected to yield to theautonomous vehicle based upon the plurality of sensor signals, whereinoutputting the second indicator is based upon determining that theperson is expected to yield to the autonomous vehicle.
 12. Theautonomous vehicle of claim 1, the acts further comprising: prior tocontrolling the notification system of the autonomous vehicle to outputthe indicator, determining that the person is expected to fail to yieldto the autonomous vehicle based upon the plurality of sensor signals,wherein outputting the first indicator is based upon determining thatthe person is expected to fail to yield to the autonomous vehicle. 13.The autonomous vehicle of claim 1, wherein the first indicator has afirst intensity and the second indicator has a second intensity, whereinthe notification system varies the first intensity based upon a distancebetween the autonomous vehicle and the person, wherein the notificationsystem varies the second intensity based upon the distance between theautonomous vehicle and the person.
 14. A method performed by anautonomous vehicle operating in a driving environment, the methodcomprising: determining that the autonomous vehicle is to execute amaneuver that will cause the autonomous vehicle to traverse a portion ofthe driving environment; predicting that a person in the drivingenvironment is to traverse the portion of the driving environment basedupon a plurality of sensor signals generated by a plurality of sensorsystems of the autonomous vehicle; determining whether the autonomousvehicle is to yield to the person when the person traverses the portionof the driving environment; when the autonomous vehicle is to yield tothe person: controlling a notification system of the autonomous vehicleto output a first indicator perceivable external to the autonomousvehicle, wherein the first indicator indicates that the autonomousvehicle plans to execute the maneuver subsequent to the persontraversing the portion of the driving environment; and controlling atleast one of a vehicle propulsion system of the autonomous vehicle or abraking system of the autonomous vehicle to execute the maneuversubsequent to the person traversing the portion of the drivingenvironment; and when the person is to yield to the autonomous vehicle:controlling the notification system of the autonomous vehicle to outputa second indicator perceivable external to the autonomous vehicle,wherein the second indicator indicates that the autonomous vehicle plansto execute the maneuver prior to the person traversing the portion ofthe driving environment; and controlling at least one of the vehiclepropulsion system or the braking system to execute the maneuver prior tothe person traversing the portion of the driving environment.
 15. Themethod of claim 14, wherein the notification system comprises a lightingsystem and a sound system, wherein the first indicator comprises a firstvisual indicator that is emitted by the lighting system and a firstaudible indicator that is emitted from the sound system, and wherein thesecond indicator comprises a second visual indicator that is emitted bythe lighting system and a second audible indicator that is emitted bythe sound system.
 16. The method of claim 14, wherein the firstindicator and the second indicator each has a type, wherein the type isdetermined based on characteristics of the driving environment asascertained by the autonomous vehicle using the plurality of sensorsignals.
 17. The method of claim 14, wherein the plurality of sensorsystems includes at least one of: a camera sensor system; a radar sensorsystem; or a lidar sensor system.
 18. The method of claim 14, whereinthe notification system comprises a sound system, wherein the soundsystem is configured to emit a first sound when the autonomous vehicleplans to execute the maneuver subsequent to the person traversing theportion of the driving environment, and wherein the sound system isconfigured to emit a second sound when the autonomous vehicle plans toexecute the maneuver prior to the person traversing the portion of thedriving environment.
 19. The method of claim 14, wherein at least one ofthe first indicator or the second indicator comprises a visualindicator, wherein the notification system comprises a lighting systemmounted on a roof of the autonomous vehicle, wherein the lighting systemis configured to emit the visual indicator viewable external to theautonomous vehicle.
 20. An autonomous vehicle comprising: acomputer-readable storage medium that comprises instructions that, whenexecuted by one or more processors, cause the one or more processors toperform acts comprising: determining that the autonomous vehicle is toexecute a maneuver that will cause the autonomous vehicle to traverse aportion of a driving environment of the autonomous vehicle; predictingthat a person in the driving environment is to traverse the portion ofthe driving environment based upon the plurality of sensor signals;determining whether the person is expected to yield to the autonomousvehicle or is expected to fail to yield to the autonomous vehicle basedupon the plurality of sensor signals; and controlling a notificationsystem of the autonomous vehicle to output a first indicator perceivableexternal to the autonomous vehicle or a second indicator perceivableexternal to the autonomous vehicle, wherein the first indicatorindicates that the autonomous vehicle plans to execute the maneuversubsequent to the person traversing the portion of the drivingenvironment, wherein the second indicator indicates that the autonomousvehicle plans to execute the maneuver prior to the person traversing theportion of the driving environment, wherein the first indicator isoutput for a first duration of time during which the person traversesthe portion of the driving environment prior to the autonomous vehicletraversing the portion of the driving environment, wherein the secondindicator is output for a second duration of time during which theautonomous vehicle traverses the portion of the environment prior to theperson traversing the portion of the driving environment.